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Active Ground Vehicle Control with use of a Super-Twisting Algorithm in the Presence of Parameter Variations

Lucien Etienne 1, 2 Stefano Di Gennaro 2 Jean-Pierre Barbot 3, 1 
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.
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Submitted on : Saturday, January 4, 2014 - 2:59:45 PM
Last modification on : Monday, November 28, 2022 - 5:44:05 PM
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  • HAL Id : hal-00923757, version 1



Lucien Etienne, Stefano Di Gennaro, Jean-Pierre Barbot. Active Ground Vehicle Control with use of a Super-Twisting Algorithm in the Presence of Parameter Variations. ICSC 2013 - 3rd International Conference on Systems and Control, Oct 2013, Alger, Algeria. ⟨hal-00923757⟩



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